Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
esc32.h File Reference
#include "std.h"
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Data Structures

struct  esc32_parameter
 
struct  esc32
 

Enumerations

enum  binaryCommands {
  BINARY_COMMAND_NOP = 0 , BINARY_COMMAND_ARM , BINARY_COMMAND_CLI , BINARY_COMMAND_CONFIG ,
  BINARY_COMMAND_DISARM , BINARY_COMMAND_DUTY , BINARY_COMMAND_PWM , BINARY_COMMAND_RPM ,
  BINARY_COMMAND_SET , BINARY_COMMAND_START , BINARY_COMMAND_STATUS , BINARY_COMMAND_STOP ,
  BINARY_COMMAND_TELEM_RATE , BINARY_COMMAND_VERSION , BINARY_COMMAND_TELEM_VALUE , BINARY_COMMAND_GET_PARAM_ID ,
  BINARY_COMMAND_ACK = 250 , BINARY_COMMAND_NACK
}
 
enum  binaryValues {
  BINARY_VALUE_NONE = 0 , BINARY_VALUE_AMPS , BINARY_VALUE_VOLTS_BAT , BINARY_VALUE_VOLTS_MOTOR ,
  BINARY_VALUE_RPM , BINARY_VALUE_DUTY , BINARY_VALUE_COMM_PERIOD , BINARY_VALUE_BAD_DETECTS ,
  BINARY_VALUE_ADC_WINDOW , BINARY_VALUE_IDLE_PERCENT , BINARY_VALUE_STATE , BINARY_VALUE_AVGA ,
  BINARY_VALUE_AVGB , BINARY_VALUE_AVGC , BINARY_VALUE_AVGCOMP , BINARY_VALUE_FETSTEP ,
  BINARY_VALUE_NUM
}
 
enum  configParameters {
  CONFIG_VERSION = 0 , STARTUP_MODE , BAUD_RATE , PTERM ,
  ITERM , FF1TERM , FF2TERM , CL1TERM ,
  CL2TERM , CL3TERM , CL4TERM , CL5TERM ,
  SHUNT_RESISTANCE , MIN_PERIOD , MAX_PERIOD , BLANKING_MICROS ,
  ADVANCE , START_VOLTAGE , GOOD_DETECTS_START , BAD_DETECTS_DISARM ,
  MAX_CURRENT , SWITCH_FREQ , MOTOR_POLES , PWM_MIN_PERIOD ,
  PWM_MAX_PERIOD , PWM_MIN_VALUE , PWM_LO_VALUE , PWM_HI_VALUE ,
  PWM_MAX_VALUE , PWM_MIN_START , PWM_RPM_SCALE , FET_BRAKING ,
  PNFAC , INFAC , THR1TERM , THR2TERM ,
  START_ALIGN_TIME , START_ALIGN_VOLTAGE , START_STEPS_NUM , START_STEPS_PERIOD ,
  START_STEPS_ACCEL , PWM_LOWPASS , RPM_MEAS_LP , SERVO_DUTY ,
  SERVO_P , SERVO_D , SERVO_MAX_RATE , SERVO_SCALE ,
  ESC_ID , DIRECTION , CONFIG_NUM_PARAMS
}
 

Functions

void esc32_init (void)
 
void esc32_periodic (void)
 
void esc32_event (void)
 

Variables

struct esc32 esc32
 

Detailed Description

Author
Murat Bronz Connection between esc32v3

Definition in file esc32.h.


Data Structure Documentation

◆ esc32_parameter

struct esc32_parameter

Definition at line 35 of file esc32.h.

Data Fields
float amps current consumption
float duty motor duty cycle (more or less throttle in %)
float rpm motor rotation speed
float volts_bat input battery voltage
float volts_motor motor voltage (bat voltage * throttle in % in fact)

◆ esc32

struct esc32

Definition at line 43 of file esc32.h.

+ Collaboration diagram for esc32:
Data Fields
bool data_available data updated
float energy accumulated energy
struct esc32_parameter params filtered data from the esc
float power computed battery power

Enumeration Type Documentation

◆ binaryCommands

Enumerator
BINARY_COMMAND_NOP 
BINARY_COMMAND_ARM 
BINARY_COMMAND_CLI 
BINARY_COMMAND_CONFIG 
BINARY_COMMAND_DISARM 
BINARY_COMMAND_DUTY 
BINARY_COMMAND_PWM 
BINARY_COMMAND_RPM 
BINARY_COMMAND_SET 
BINARY_COMMAND_START 
BINARY_COMMAND_STATUS 
BINARY_COMMAND_STOP 
BINARY_COMMAND_TELEM_RATE 
BINARY_COMMAND_VERSION 
BINARY_COMMAND_TELEM_VALUE 
BINARY_COMMAND_GET_PARAM_ID 
BINARY_COMMAND_ACK 
BINARY_COMMAND_NACK 

Definition at line 52 of file esc32.h.

◆ binaryValues

Enumerator
BINARY_VALUE_NONE 
BINARY_VALUE_AMPS 
BINARY_VALUE_VOLTS_BAT 
BINARY_VALUE_VOLTS_MOTOR 
BINARY_VALUE_RPM 
BINARY_VALUE_DUTY 
BINARY_VALUE_COMM_PERIOD 
BINARY_VALUE_BAD_DETECTS 
BINARY_VALUE_ADC_WINDOW 
BINARY_VALUE_IDLE_PERCENT 
BINARY_VALUE_STATE 
BINARY_VALUE_AVGA 
BINARY_VALUE_AVGB 
BINARY_VALUE_AVGC 
BINARY_VALUE_AVGCOMP 
BINARY_VALUE_FETSTEP 
BINARY_VALUE_NUM 

Definition at line 73 of file esc32.h.

◆ configParameters

Enumerator
CONFIG_VERSION 
STARTUP_MODE 
BAUD_RATE 
PTERM 
ITERM 
FF1TERM 
FF2TERM 
CL1TERM 
CL2TERM 
CL3TERM 
CL4TERM 
CL5TERM 
SHUNT_RESISTANCE 
MIN_PERIOD 
MAX_PERIOD 
BLANKING_MICROS 
ADVANCE 
START_VOLTAGE 
GOOD_DETECTS_START 
BAD_DETECTS_DISARM 
MAX_CURRENT 
SWITCH_FREQ 
MOTOR_POLES 
PWM_MIN_PERIOD 
PWM_MAX_PERIOD 
PWM_MIN_VALUE 
PWM_LO_VALUE 
PWM_HI_VALUE 
PWM_MAX_VALUE 
PWM_MIN_START 
PWM_RPM_SCALE 
FET_BRAKING 
PNFAC 
INFAC 
THR1TERM 
THR2TERM 
START_ALIGN_TIME 
START_ALIGN_VOLTAGE 
START_STEPS_NUM 
START_STEPS_PERIOD 
START_STEPS_ACCEL 
PWM_LOWPASS 
RPM_MEAS_LP 
SERVO_DUTY 
SERVO_P 
SERVO_D 
SERVO_MAX_RATE 
SERVO_SCALE 
ESC_ID 
DIRECTION 
CONFIG_NUM_PARAMS 

Definition at line 93 of file esc32.h.

Function Documentation

◆ esc32_event()

void esc32_event ( void  )

Definition at line 352 of file esc32.c.

References esc32_private::dev, esc32_parse_msg(), esc32_priv, esc32_private::msg_available, parse_esc32(), uart_char_available(), and uart_getch().

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◆ esc32_init()

void esc32_init ( void  )

Definition at line 242 of file esc32.c.

References esc32_private::cmd_seq_id, DefaultPeriodic, esc32_private::dev, esc32_msg_send(), esc32_priv, and register_periodic_telemetry().

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◆ esc32_periodic()

Variable Documentation

◆ esc32

struct esc32 esc32
extern

Definition at line 1 of file esc32.c.